seavention – autonomous subsea intervention...seavention – autonomous subsea intervention aksel...
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SEAVENTION –AUTONOMOUS SUBSEA INTERVENTIONAksel A. Transeth, senior research scientist, SINTEF Digital
Adapting to the Digital Future: The subsea industry in 20 years, 1 Nov 2018
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TECHNOLOGY FOR A BETTER SOCIETY
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Why autonomy?
• Health, Environment, Safety: E.g., avoid (or reduce the need for) having to mobilize support vessels and human personnel, possibly to inaccessible and/or dangerous areas.
• Reduce need for support vessels: E.g. subsea inhabitants, or more multi ROV/AUV operations in order to reduce the time needed for operations involving support vessels.
• Reduce cost and duration of operations for high-frequency operations: See the two above bullet points.
• Increase uptime: Improved condition monitoring and possibly faster response time for certain intervention operations may lead to increased uptime. Reduced dependence on weather conditions.
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Autonomous Job Analysis (AJA) – a tool for cooperating on designing autonomous operations
Purpose: • Analysis and break-down of operations.• Uncover operational modes, design challenges, and limitations regarding
autonomous behaviours. • Facilitate a common understanding for all stakeholders.
Also,• Input to pre-mission meetings• Identify common challenges between sub-operations.
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2018-2021
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Background ill.: Subsea factory © Equinor
ROV intervention: AI-based planning
Task execution3D object detection
ROV flying: AI-based planning
Collision avoidanceAuto-calibration
ROV operator: Augmented reality
Photo: © TechnipFMC
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Need subsea situational awareness –current recommended regulation
• Recommended Standard DNV GL (2016) – Rules for Classification – Underwater Technology suggests:
"Systems for locating of obstacles, like rocks,
wrecks, pipelines, offshore structures, etc. are to be
provided to avoid collisions safely."
8 Slide content from Jeevith Hedge, NTNU
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• Gestures and natural user interfaces
• Augmented/Virtual-Reality
• Robotics
• Industrial automation
• Autonomous cars
The 3D Sensor Revolution
Slide content from Petter Risholm, SINTEF
"see further, faster, with higher accuracy"
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Underwater 3D – the state of the art
• Acoustic cameras• Low resolution
• Long range
• Optical cameras• High resolution
• Short range due to attenuation and backscatter
• Generally no 3D
Need high-resolution 3D cameras with long range to support autonomy
Slide content from Petter Risholm, SINTEF
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3D – key enabler for underwater autonomy
• Housing, 7 L, 24V
• 300m depth
• 10-20 Hz image rate
• 3rd gen system
Intensity image Depth image
Gives live 3D, backscatter-free images at video-rate
Slide content from Petter Risholm, SINTEF
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A 6DOF object detection for subsea intervention tasks
• SEAVENTION will investigate perception based on 2D and 3D sensor data
• Methods based on, e.g., Deep Learning, will be used as basis
• Training simulators for machine learning are important
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Autocalibration increases precision and flexibility in operations
• Autonomy requires several sensors
Scenarios
• New sensor was added in a "clever position"
• A crash has pushed the sensors out of alignment
• Custom ROV solutions
Calibration quality directly affects performance
• Traveling 1 m/s and 1 degree misalignment gives• 11 m error on DVL after 15 min • 200 m error on IMU after 1 min
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"Take-aways" to roadmap
• Increasing levels of autonomy gives challenges in keeping the operator in the loop.
• Resident UUVs will push the state of the art on underwater autonomy.
• Sensor fusion and improved sensors will increase perception robustness. E.g., acoustic and optical.
• UUVs will understand their environment more like humans do to enable full autonomy. • Need generalization: the UUVs need to recognize something
that is not completely similar to the training set they have been provided.
• Improved transition from simulators to real-life training.
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Picture by austrini [CC BY 2.0 (https://creativecommons.org/licenses/by/2.0)], via Wikimedia Commons
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Technology for a better society